import launch
import launch_ros

def generate_launch_description():
    action_node_imu_pub_node = launch_ros.actions.Node(
       package= 'ACM_algorithm_node_pkg',
       executable= 'imu_target_pub_node',
       output = 'screen'
    )

    action_node_pid_node = launch_ros.actions.Node(
       package= 'ACM_algorithm_node_pkg',
       executable= 'pid_controller_node',#代码节点名称
       output = 'screen'
    )

    return launch.LaunchDescription([
        action_node_imu_pub_node,
        action_node_pid_node,
    ])